CN204701693U - A kind of electric stair climbing robot - Google Patents
A kind of electric stair climbing robot Download PDFInfo
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- CN204701693U CN204701693U CN201520433582.2U CN201520433582U CN204701693U CN 204701693 U CN204701693 U CN 204701693U CN 201520433582 U CN201520433582 U CN 201520433582U CN 204701693 U CN204701693 U CN 204701693U
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- oil cylinder
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Abstract
The utility model relates to a kind of electric stair climbing robot.Comprise: climbing machine platform, this climbing machine platform is vertically arranged with two grooves; The bottom of climbing machine platform is symmetrically arranged with two oil motors, and the force-output shaft of arbitrary oil motor is all connected with a leading screw, and leading screw is installed on climbing machine platform; In the middle of two leading screws, each leading screw all runs through an oil cylinder, has the negative thread suitable with described leading screw in oil cylinder, and it is secondary that oil cylinder and leading screw form screw-driven; The top of described oil cylinder is fixedly connected with a power-transfer clutch, and power-transfer clutch is positioned at groove inside, and the top of power-transfer clutch is placed with manned plate, and oil cylinder is moved by clutch band dynamic load people plate; Wherein, two oil cylinders are realized upstairs with front and back alternating movement by the flexible of piston rod.
Description
Technical field
The utility model relates to auxiliary life technical field of mechanical equipment, specifically, relates to a kind of electric stair climbing robot.
Background technology
Along with progress and the growth in the living standard of society, social senilization is on the rise, and the elderly and physical disabilities lose a lot of chance participating in enjoying development of social progress achievement because of obstacles such as the various stair of indoor and outdoor, steps.The middle lower building in some cities and towns, when not possessing elevator, how to meet the elderly and infant easily and safely stair activity to be on the rise and important.
The domestic research to cart for travelling up or down stairs at present and manufacture still belong to the primary stage.Generally, technology shows slightly coarse, and structure is comparatively single, and the cart for travelling up or down stairs of production exists a lot of not enough in practicality and operability etc., and research is maturation not enough, and the product also do not felt quite pleased occurs.
Such as application number be 2004200073362 Chinese patent literature disclose a kind of stair climbing robot.This robot is by arranging eight oil cylinders, and loading flat board and multiple sensor, achieve the motion of manned state Xia Pa building.But be limited to self structure, this robot needs the position at least reserving four oil cylinders in the horizontal, obviously can take too much horizontal space, be difficult to flexible use in the place that corridor width is comparatively narrow.
And external in electric cart for going-up stairs technology relative maturity, and to have put into production, but it is expensive, demestic user can not consume, and really comes into general marketplace premature.The research history of electric cart for going-up stairs was at about 100 years, and its form mostly is star wheel type, crawler type etc.They are except the shortcoming addressed above, and the people that they operationally carry or object are also subject to impact shock and the noise uncomfortable impact such as large.
Therefore how to design a kind of structure simple, overall volume is little, lighter in weight climb building device, be the problem that those skilled in the art need solution badly.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, provides a kind of electric stair climbing robot.The utility model, by designing brand-new structure, making stair climbing robot laterally only needing to arrange two oil cylinders, by the front-rear reciprocation movement of two oil cylinders, achieving the motion upstairs under manned loading state.
In order to reach above-mentioned purpose, the utility model adopts following technical scheme:
A kind of electric stair climbing robot, comprising:
Climbing machine platform, this climbing machine platform is vertically arranged with two grooves;
The bottom of climbing machine platform is symmetrically arranged with two oil motors, and the force-output shaft of arbitrary oil motor is all connected with a leading screw, and leading screw is installed on climbing machine platform;
In the middle of two leading screws, each leading screw all runs through an oil cylinder, has the negative thread suitable with described leading screw in oil cylinder, and it is secondary that oil cylinder and leading screw form screw-driven;
The top of described oil cylinder is fixedly connected with a power-transfer clutch, and power-transfer clutch is positioned at groove inside, and the top of power-transfer clutch is placed with manned plate, and oil cylinder is moved by clutch band dynamic load people plate;
Wherein, two oil cylinders are realized upstairs with front and back alternating movement by the flexible of piston rod.
Preferably, the end of described cylinder piston rod is connected with heel brace, and the bottom surface of heel brace is planar structure.
Preferably, the end of described cylinder piston rod is connected with heel brace by hinge.
Preferably, described climbing machine platform is also respectively arranged with controller, hydraulic valve bank and fuel tank, and controller realizes stretching out of cylinder piston rod and rollback by hydraulic control valve group and fuel tank.
The beneficial effects of the utility model are:
(1) being laterally only provided with two oil cylinders, taking up room little, manned loading campaign can be carried out in narrow corridor;
(2) leading screw and oil cylinder form screw-driven pair, and make the Bit andits control of oil cylinder accurate, be convenient to accurately movement on the step of different length, commonality is higher;
(3) each oil cylinder is all connected with heel brace by hinge, makes heel brace have certain degree of freedom, is convenient to the automatic calibration when irregular step surface falls.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot provided by the utility model;
Fig. 2 is the birds-eye view of climbing machine platform in the utility model;
Fig. 3 is the structural representation of manned plate in the utility model;
Fig. 4 is upward view of the present utility model;
Fig. 5 is the constitution diagram that robot of the present utility model is about to when climbing building;
Fig. 6 is the constitution diagram of robot left foot oil cylinder piston rollback of the present utility model;
Fig. 7 is the constitution diagram of robot left foot oil cylinder of the present utility model heavy burden reach;
Fig. 8 is that robot left foot oil cylinder of the present utility model bears a heavy burden the constitution diagram stretched;
Fig. 9 is the constitution diagram of robot right crus of diaphragm oil cylinder of the present utility model reach;
Figure 10 is the constitution diagram that robot of the present utility model is climbed building and completed;
In figure: 1, step, 2, heel brace, 3, hinge, 4, right crus of diaphragm oil cylinder, 6, right crus of diaphragm leading screw, 7, climbing machine platform, 8, right crus of diaphragm power-transfer clutch, 9, manned plate, 10, left foot power-transfer clutch, 11, left foot leading screw, 12, hydraulic valve bank, 13, controller, 14, fuel tank, 15, left foot oil motor, 16, right crus of diaphragm oil motor, 17, left foot oil cylinder piston, 18, left foot cylinder piston rod, 19, left foot oil cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
Embodiment 1: a kind of electric stair climbing robot, its structure as Figure 1-4, comprising: climbing machine platform 7, and this climbing machine platform 7 is vertically arranged with two grooves; The bottom of climbing machine platform 7 is symmetrically arranged with left foot oil motor 15 and right crus of diaphragm oil motor 16;
The force-output shaft of left foot oil motor 15 is connected with left foot leading screw 11, and right crus of diaphragm oil motor 16 is connected with right crus of diaphragm leading screw 6;
Described left foot leading screw 11 is through left foot oil cylinder 19, and left foot oil cylinder 19 inside has negative thread, makes left foot oil cylinder 19 and left foot leading screw 11 form screw-driven pair;
Described right crus of diaphragm leading screw 6 is through right crus of diaphragm oil cylinder 4, and right crus of diaphragm oil cylinder 4 inside also has negative thread, makes right crus of diaphragm oil cylinder 4 and right crus of diaphragm leading screw 6 form screw-driven pair;
Left foot leading screw 11 and right crus of diaphragm leading screw 4 are all installed on the bottom of climbing machine platform 7;
The top of described left foot oil cylinder 19 is fixedly connected with left foot power-transfer clutch 10, and left foot power-transfer clutch 10 is positioned at the left side groove of climbing machine platform 7; The top of right crus of diaphragm oil cylinder 4 is fixedly connected with right crus of diaphragm power-transfer clutch 8, and oil cylinder power-transfer clutch 8 is positioned at the right side groove of climbing machine platform 7.
In the middle of two power-transfer clutchs, the top of one of them power-transfer clutch is placed with manned plate 9, and manned plate 9 is metal material, and two power-transfer clutchs all realize and the adhesive of manned plate 9 and disconnection by power on/off.
In the middle of two oil cylinders, the end of each cylinder piston rod is connected with a heel brace 2 respectively by hinge 3, and the bottom surface of heel brace 2 is planar structure.
As alternative selection, also rotation stop device can be set at hinge 3 and the junction of heel brace 2, limit the degree of freedom of heel brace 2.
Meanwhile, described climbing machine platform 7 is also respectively arranged with controller 13, hydraulic valve bank 12 and fuel tank 14, the flow direction that controller 13 controls hydraulic oil between fuel tank 14 and oil cylinder by hydraulic valve bank 12 realizes stretching out of cylinder piston rod and rollback.
It is as follows that robot provided by the utility model climbs building principle:
Shown in figure 5, before climbing building, stair climbing robot stands on the ground before step 1 by left foot oil cylinder 19 and right crus of diaphragm oil cylinder 4, and people and/or thing can be positioned on manned plate 9;
Shown in figure 6, when climbing building, left foot oil cylinder piston 17 moves, left foot cylinder piston rod 18 with on move, left foot power-transfer clutch 10 is energized, left foot power-transfer clutch 10 and the adhesive of manned plate 9, right crus of diaphragm power-transfer clutch 8 no power;
Shown in figure 7, left foot oil motor 15 rotates forward, then left foot oil cylinder 19 moves forward under the drive of left foot leading screw 11, manned plate 9 is in attracting state with left foot power-transfer clutch 10, under the state that left foot oil cylinder 19 moves forward, manned plate 9 also moves forward thereupon, the friction force between manned plate 9 and climbing machine platform 7, forces to overcome by the power of left foot oil motor 15;
Shown in figure 8, after left foot oil cylinder 19 has moved forward, left foot cylinder piston rod 18 stretches out, the heel brace 2 be connected with left foot oil cylinder 19 drops on higher step 1, along with left foot cylinder piston rod 18 continue stretch out, climbing machine platform 7 just moves on the whole, accordingly, right crus of diaphragm oil cylinder 4 also with on move, after left foot cylinder piston rod 18 is elongated to desired location, the piston rod rollback of right crus of diaphragm oil cylinder 4; Make the elongation of the piston rod of right crus of diaphragm oil cylinder 4 a little less than the overhang of left foot cylinder piston rod 18;
Shown in figure 9, right crus of diaphragm oil motor 16 rotates forward, under the drive of right crus of diaphragm leading screw 6, right crus of diaphragm oil cylinder 4 moves forward, then the piston rod of right crus of diaphragm oil cylinder 4 stretches out, then the heel brace 2 on left foot oil cylinder 19 and right crus of diaphragm oil cylinder 4 all drops on same step, achieves the rising of a step;
With reference to shown in Figure 10, right crus of diaphragm power-transfer clutch 8 is energized, then two power-transfer clutchs realize and adhesive while manned plate 9, then left foot oil motor 15 and right crus of diaphragm oil motor 16 synchronously reverse, because left foot oil cylinder 19 and right crus of diaphragm oil cylinder 4 all motionless, and two screw turns, so climbing machine platform 7 relative to two oil cylinder reaches, will present Dai Pa building state again.
Repeat above-mentioned steps, can the up of multiple step be carried out, finally complete and climb building.
After have employed said structure, stair climbing robot provided by the utility model, by alternating movement before and after two oil cylinders, achieves and climbs building operation.And the process medium power that oil cylinder runs is hydraulic pressure, noise is lower.Therefore, stair climbing robot structure provided by the utility model is simple, cheap, has high promotion prospect.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of embodiment, General Principle as defined herein can when not departing from spirit or scope of the present utility model, realize in other embodiments, the part be not described in detail, for prior art, do not repeat at this.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and feature.
Claims (7)
1. an electric stair climbing robot, is characterized in that, comprising:
Climbing machine platform, this climbing machine platform is vertically arranged with two grooves;
The bottom of climbing machine platform is symmetrically arranged with two oil motors, and the force-output shaft of arbitrary oil motor is all connected with a leading screw, and leading screw is installed on climbing machine platform;
In the middle of two leading screws, each leading screw all runs through an oil cylinder, has the negative thread suitable with described leading screw in oil cylinder, and it is secondary that oil cylinder and leading screw form screw-driven;
The top of described oil cylinder is fixedly connected with a power-transfer clutch, and power-transfer clutch is positioned at groove inside, and the top of power-transfer clutch is placed with manned plate, and oil cylinder is moved by clutch band dynamic load people plate;
Wherein, two oil cylinders are realized upstairs with front and back alternating movement by the flexible of piston rod.
2. electric stair climbing robot according to claim 1, is characterized in that, the end of described cylinder piston rod is connected with heel brace.
3. electric stair climbing robot according to claim 2, is characterized in that, the end of described cylinder piston rod is connected with heel brace by hinge.
4. electric stair climbing robot according to claim 1, is characterized in that, described climbing machine platform is also respectively arranged with controller, hydraulic valve bank and fuel tank, and controller realizes stretching out of cylinder piston rod and rollback by hydraulic control valve group and fuel tank.
5. electric stair climbing robot according to claim 1, is characterized in that, described manned plate is metal material.
6. electric stair climbing robot according to claim 1, is characterized in that, described power-transfer clutch is electric clutch.
7. electric stair climbing robot according to claim 2, is characterized in that, the bottom surface of described heel brace is planar structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520433582.2U CN204701693U (en) | 2015-06-23 | 2015-06-23 | A kind of electric stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520433582.2U CN204701693U (en) | 2015-06-23 | 2015-06-23 | A kind of electric stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204701693U true CN204701693U (en) | 2015-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520433582.2U Withdrawn - After Issue CN204701693U (en) | 2015-06-23 | 2015-06-23 | A kind of electric stair climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN204701693U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925162A (en) * | 2015-06-23 | 2015-09-23 | 胡凌翔 | Electric stair-climbing robot |
| CN105819369A (en) * | 2016-06-01 | 2016-08-03 | 东北林业大学 | Hydraulic lifting, shifting and transporting device |
| CN110789598A (en) * | 2019-10-29 | 2020-02-14 | 金肯职业技术学院 | Automatic stair climbing transportation robot and transportation method thereof |
| CN111572618A (en) * | 2020-06-05 | 2020-08-25 | 印玉英 | Electric control carrying equipment for barreled water transportation |
-
2015
- 2015-06-23 CN CN201520433582.2U patent/CN204701693U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925162A (en) * | 2015-06-23 | 2015-09-23 | 胡凌翔 | Electric stair-climbing robot |
| CN104925162B (en) * | 2015-06-23 | 2015-12-16 | 胡凌翔 | A kind of electric stair climbing robot |
| CN105819369A (en) * | 2016-06-01 | 2016-08-03 | 东北林业大学 | Hydraulic lifting, shifting and transporting device |
| CN105819369B (en) * | 2016-06-01 | 2018-03-09 | 东北林业大学 | A kind of hydraulic lifting board migration device |
| CN110789598A (en) * | 2019-10-29 | 2020-02-14 | 金肯职业技术学院 | Automatic stair climbing transportation robot and transportation method thereof |
| CN111572618A (en) * | 2020-06-05 | 2020-08-25 | 印玉英 | Electric control carrying equipment for barreled water transportation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151014 Effective date of abandoning: 20151216 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |